Robot

Patent metadata

Field	Value
Publication number	US-2018281174-A1
Application number	US-201815915182-A
Country	US
Kind code	A1
Filing date	Mar 8, 2018
Priority date	Mar 30, 2017
Publication date	Oct 4, 2018
Grant date	—

Abstract

A robot includes: a turning part rotated about a first axis; a first arm part rotatably connected to the turning part about a second axis perpendicular to the first axis; a second arm part rotatably connected to the first arm part about a third axis; a distal-end swing part rotatably connected to the second arm part about a fourth axis; actuators rotating the first arm part, the second arm part, and the distal-end swing part about the second to fourth axes, which are parallel to each other, respectively; and a cable for the actuators. The turning part, the first arm part, the second arm part, and the distal-end swing part are alternately arranged at one or the other side in the direction of the second axis. The cable is disposed along side surfaces at the one side. The actuators are disposed close to side surfaces at the other side.

First claim

1 . A robot comprising:
a turning part that rotates about a first axis; a first arm part that is connected to the turning part in a rotatable manner about a second axis extending in a direction perpendicular to the first axis and that extends straight along the longitudinal direction thereof; a second arm part that is connected to the first arm part in a rotatable manner about a third axis parallel to the second axis and that extends straight along the longitudinal direction thereof; a distal-end swing part that is connected to the second arm part in a rotatable manner about a fourth axis parallel to the third axis and that supports a wrist part at the distal end thereof; a first actuator that rotates the first arm part with respect to the turning part; a second actuator that rotates the second arm part with respect to the first arm part; a third actuator that rotates the distal-end swing part with respect to the second arm part; and a cable that supplies power and signals to the first to third actuators, wherein the turning part, the first arm part, the second arm part, and the distal-end swing part are arranged in an alternating manner at one side or at the other side in the direction along the second axis, from the turning part toward the distal-end swing part; the cable is disposed along a side surface at the one side; and the first to third actuators are disposed close to a side surface at the other side.

2 . A robot according to claim 1 ,
wherein side surfaces on the one side of the turning part and the second arm part are disposed close to each other in the same plane; and the first arm part and the distal-end swing part are disposed along side surfaces on the other side of the turning part and the second arm part.

3 . A robot according to claim 1 ,
wherein the cable comprises: a main line that is wired along side surfaces on the one side of the turning part and the second arm part; and branch lines that are branched from the main line at a middle position of the main line in the longitudinal direction; and the branch lines pass through a through-hole formed, at a middle position of the first arm part in the longitudinal direction, in the direction along the second axis and are wired to the first actuator and the second actuator.

4 . A robot according to claim 2 , further comprising supporting members that support the main line of the cable with respect to the turning part, the first arm part, and the second arm part,
wherein the supporting member that is fixed to the first arm part passes between the turning part and the second arm part in the direction along the second axis and extends so as to protrude toward the side surfaces on the one side thereof, thus supporting the main line.

5 . A robot according to claim 1 , wherein the longitudinal axis of the distal-end swing part is located at a position so as to intersect with the first axis.

Assignees

• Fanuc Corp

Inventors

• Watanabe Kei

Classifications

• B25J9/06 Primary

  characterised by multi-articulated arms · CPC title

• B25J9/04 Primary

  by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type · CPC title

• B25J19/0025

  Means for supplying energy to the end effector · CPC title

• B25J9/10

  characterised by positioning means for manipulator elements · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title